20.2 Path and Motion Planning 471
focused problems are well advanced, e.g., the viewpoint selection problem with
mathematical programming techniques.
Domain-independent planning is not widely deployed in robotics for various
reasons, among which are the restrictive assumptions and expressiveness of the
classical planning framework. In robotics, task planning should ideally handle time
and resource allocation, dynamic environments uncertainty and partial knowl-
edge, and incremental planning consistently integrated with acting and sensing.
The mature planning techniques available today are mostly effective at the abstract
level of mission planning. Primitives for these plans are tasks such as navigate to
location5 and retrieve and pick up object2.